Fix APM takeoff when vehicle is already armed and on the ground

[eris-ismajli]

Description

Fixes an issue where APM takeoff does nothing if the vehicle is already armed while on the ground.

Previously, APMFirmwarePlugin::startTakeoff() only switched to Takeoff mode and attempted to arm the vehicle when it was disarmed. If the vehicle was already armed, the takeoff sequence was skipped entirely.

This change ensures that:

• The vehicle switches to Takeoff mode regardless of its arming state.
• No redundant arm command is sent when the vehicle is already armed.
• The existing behavior for vehicles that are already flying is preserved.

Type of Change

• Bug fix (non-breaking change that fixes an issue)
• New feature (non-breaking change that adds functionality)
• Breaking change (fix or feature that would cause existing functionality to change)
• Documentation update
• Refactoring (no functional changes)
• CI/Build changes
• Other

Testing

• Tested locally
• Added/updated unit tests
• Tested with simulator (SITL)
• Tested with hardware

Platforms Tested

• Linux
• Windows
• macOS
• Android
• iOS

Flight Stacks Tested

• PX4
• ArduPilot

Screenshots

Checklist

• I have read the Contribution Guidelines
• I have read the Code of Conduct
• My code follows the project's coding standards
• I have added tests that prove my fix/feature works
• New and existing unit tests pass locally

Related Issues

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By submitting this pull request, I confirm that my contribution is made under the terms of the project's dual license (Apache 2.0 and GPL v3).

[codecov]

Codecov Report

❌ Patch coverage is 0% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 34.82%. Comparing base (f29efd3) to head (bc292b4).
⚠️ Report is 373 commits behind head on master.

Files with missing lines	Patch %	Lines
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc	0.00%	6 Missing ⚠️

❌ Your patch check has failed because the patch coverage (0.00%) is below the target coverage (30.00%). You can increase the patch coverage or adjust the target coverage.

Additional details and impacted files

@@            Coverage Diff             @@
##           master   #15063      +/-   ##
==========================================
+ Coverage   25.47%   34.82%   +9.35%     
==========================================
  Files         769      950     +181     
  Lines       65912    85902   +19990     
  Branches    30495    39594    +9099     
==========================================
+ Hits        16788    29917   +13129     
+ Misses      37285    36015    -1270     
- Partials    11839    19970    +8131     

Flag	Coverage Δ
unittests	34.82% <0.00%> (+9.35%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
src/FirmwarePlugin/APM/APMFirmwarePlugin.cc	26.47% <0.00%> (+6.25%)	⬆️

... and 682 files with indirect coverage changes

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[github-actions]

Build Results

Platform Status

Platform	Status	Details
Linux	Passed	View
Windows	Passed	View
MacOS	Passed	View
Android	Passed	View

All builds passed.

Pre-commit

Check	Status	Details
pre-commit	Failed (non-blocking)	View

Pre-commit hooks: 0 passed, 0 failed, 0 skipped.

Test Results

linux-coverage-integration: 52 passed, 0 skipped
linux-coverage-unit: 190 passed, 0 skipped
linux-sanitizers-integration: 31 passed, 0 skipped
linux-sanitizers-unit: 190 passed, 0 skipped
Total: 463 passed, 0 skipped

Code Coverage

Coverage: 71.2%

No baseline available for comparison

Artifact Sizes

Artifact	Size
QGroundControl	253.15 MB
QGroundControl-aarch64	177.36 MB
QGroundControl-installer-AMD64	128.45 MB
QGroundControl-installer-AMD64-ARM64	70.83 MB
QGroundControl-installer-ARM64	99.57 MB
QGroundControl-linux	84.77 MB
QGroundControl-mac	84.77 MB
QGroundControl-x86_64	189.62 MB
No baseline available for comparison

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_{Updated: 2026-09-09 15:01:36 UTC • Commit: bc292b4 • Triggered by: Linux}